Adaptive fuzzy control for high‐order nonlinear systems with time‐varying full‐state constraints and input saturation
Jian‐Qin Liu, Yan Jiang
Abstract
Summary The adaptive control for a class of high‐order nonlinear systems with time‐varying full‐state constraints and input saturation is investigated in this paper. To deal with time‐varying constraints, a type of high‐order barrier Lyapunov functions(BLFs) are constructed. Its performance can be guaranteed with the disappearance of constraints. By building fuzzy systems, unknown functions can be approximated. Together with adding a power integrator technique and the gain‐update law, an adaptive controller is designed. As a result, all the constraints are not breached, and the tracking error converges to an arbitrarily small zone around the origin. Finally, a practical example and a numerical example illustrate the effectiveness of the proposed method.